CN111035455B - Venipuncture robot with decoupled position and posture - Google Patents
Venipuncture robot with decoupled position and posture Download PDFInfo
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- CN111035455B CN111035455B CN201911418723.2A CN201911418723A CN111035455B CN 111035455 B CN111035455 B CN 111035455B CN 201911418723 A CN201911418723 A CN 201911418723A CN 111035455 B CN111035455 B CN 111035455B
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention discloses a vein puncture robot with decoupled position and attitude, belonging to the technical field of mechanical and electrical integration, aiming at solving the problems of lower control precision and safety of a full-automatic puncture robot in the prior art caused by position and attitude coupling, the vein puncture robot comprises a transmission guide rail mechanism, a double parallel four-bar linkage mechanism, an end effector yaw and elevation angle adjusting mechanism and a needle advancing and retreating feeding mechanism, wherein the double parallel four-bar linkage mechanism is arranged on the transmission slide rail mechanism, one end of the double parallel four-bar linkage mechanism is connected with the transmission slide rail mechanism in a sliding way, one end of the end effector yaw angle and elevation angle adjusting mechanism is fixedly connected with the other end of the double parallel four-bar linkage mechanism, and the needle feeding and withdrawing feeding mechanism is rotationally connected with the other end of the end effector yaw angle and elevation angle adjusting mechanism.
Description
Technical Field
The invention belongs to the technical field of mechanical and electrical integration, and particularly relates to a venipuncture robot with decoupled position and posture.
Background
Currently, venipuncture is mainly performed clinically by skilled medical staff, and the staff needs special training. The traditional vein puncture method is to puncture the tourniquet, then make the patient make the vein more prominent by making a fist to perform vein puncture, and need to depend on the experience and skill of medical personnel to operate, but it is very difficult to accurately perform vein puncture for patients with dark skin color, deep veins, covered injuries, tattoos and hairs, especially infants, old people, obese people, dehydrated patients and the like. The overall process of venipuncture is, however, indeed relatively fixed and therefore suitable for robotic handling. With the progress of computer vision and robotics, the demand for fully automatic piercing robots has become more and more intense. But because the control of present general mechanical arm is complicated, position and gesture coupling for the vein puncture, can lead to the precision lower, the security is lower. Therefore, the development of the venipuncture robot with the decoupling of the position and the posture is very practical.
Disclosure of Invention
The invention provides a vein puncture robot with decoupled position and posture, aiming at solving the problems of lower control precision and safety of a full-automatic puncture robot in the prior art caused by position and posture coupling;
a venipuncture robot with decoupled position and posture comprises a transmission guide rail mechanism, a double parallel four-bar linkage mechanism, an end effector yaw and elevation angle adjusting mechanism and a needle feeding and retracting mechanism, wherein the double parallel four-bar linkage mechanism is arranged on the transmission guide rail mechanism, one end of the double parallel four-bar linkage mechanism is in sliding connection with the transmission guide rail mechanism, one end of the end effector yaw and elevation angle adjusting mechanism is fixedly connected with the other end of the double parallel four-bar linkage mechanism, and the needle feeding and retracting mechanism is in rotating connection with the other end of the end effector yaw and elevation angle adjusting mechanism;
further, the transmission guide rail mechanism comprises a guide rail base, a guide rail, a first motor, a ball screw, a first bearing, a second bearing, a third bearing, a first nut and a sliding block; the guide rail is fixedly connected with the upper surface of the guide rail base, the shell of the first motor is fixedly connected with one end of the guide rail base, the ball screw, the first bearing, the second bearing, the third bearing and the first nut are all arranged in the guide rail, the output shaft of the first motor penetrates through the outer wall of one end of the guide rail and is connected with one end of the ball screw through the coupler, the first bearing and the second bearing are sleeved on one end of the ball screw close to the first motor, the bearing inner rings of the first bearing and the second bearing are fixedly connected with the ball screw, the bearing outer rings of the first bearing and the second bearing are fixedly connected with the inner wall of the guide rail base, the third bearing is sleeved on the other end of the ball screw, the bearing inner ring of the third bearing is fixedly connected with the ball screw, the bearing outer ring of the third bearing is fixedly connected with the inner wall of the other end of the guide rail base, the first nut is sleeved on the thread section of the ball screw, the first nut is in threaded connection with the ball screw, the sliding block is sleeved on the first nut and is fixedly connected with the first nut, connecting plates on two sides of the sliding block penetrate through the guide rail and are arranged outside the guide rail, and the sliding block is in interactive connection with the guide rail;
furthermore, the double parallel four-bar mechanism comprises a connecting base, a second motor, a first harmonic reducer, a first connecting bar, a third motor, a second harmonic reducer and a second connecting bar, wherein the connecting base is fixedly connected with the slide block, a shell of the second motor is fixedly connected with one side of the connecting base through a flange plate, an output shaft of the second motor penetrates through the connecting base and is connected with an input shaft of the first harmonic reducer through a coupler, a shell of the first harmonic reducer is fixedly connected with the other side of the connecting base, an output shaft of the first harmonic reducer penetrates through a side wall at one end of the first connecting bar and is fixedly connected with the first connecting bar, a shell of the second harmonic reducer is fixedly connected with a side wall at the other end of the first connecting bar, the first harmonic reducer and the second harmonic reducer are positioned at the same side of the first connecting bar, an output shaft of the third motor penetrates through the first connecting bar and is connected with an input shaft of the second harmonic reducer through the coupler, the shell of the third motor is fixedly connected with the first connecting rod through a flange plate, and the output shaft of the second harmonic reducer penetrates through the side wall of one end of the second connecting rod and is fixedly connected with the second connecting rod;
furthermore, the end effector yaw angle and elevation angle adjusting mechanism comprises an adjusting base, a fourth motor, a first planetary reducer, a guide slide rail, a fifth motor, a second planetary reducer, a third connecting rod, a fourth connecting rod, a first pulley, a second pulley and a third pulley, wherein the adjusting base is fixedly connected to the other end of the second connecting rod, a shell of the fourth motor is fixed on the adjusting base, an output shaft of the fourth motor is connected with an input shaft of the first planetary reducer (19) through a coupler, an output shaft of the first planetary reducer penetrates through the adjusting base and is fixedly connected with the guide slide rail, an output shaft of the fifth motor is connected with an input shaft of the second planetary reducer through a coupler, a shell of the second planetary reducer is fixedly connected with the guide slide rail, an output shaft of the second planetary reducer penetrates through the guide slide rail and is fixedly connected with one end of the third connecting rod, one end of the third connecting rod is hinged with one end of the fourth connecting rod, the first pulley, the second pulley and the third pulley are distributed in the guide slide rail in a triangular shape, the first pulley, the second pulley and the third pulley are connected with the guide slide rail in a sliding manner, and each pulley in the first pulley, the second pulley and the third pulley is sleeved on one end of a pulley shaft respectively;
furthermore, the guide slide rail comprises a rail plate and a connecting plate which are arranged in an L shape, an output shaft of the first planetary reducer penetrates through the adjusting base and is fixedly connected with the connecting plate, and the first pulley, the second pulley and the third pulley are distributed in the rail plate in a triangular shape;
furthermore, the feed mechanism comprises a feed base, a sixth motor, a feed screw, a second nut, a needle seat and two slide rails, wherein the outer wall of the feed base is fixedly connected with the other end of each pulley shaft, the outer wall of the feed base is hinged with the other end of the fourth connecting rod, the sixth motor is arranged at one end of the feed base, an output shaft of the sixth motor penetrates through the feed base and is connected with one end of the feed screw through a coupler, the other end of the feed screw is inserted into the side wall at the other end of the feed base, a support bearing is arranged between the other end of the feed screw and the feed base, an inner bearing ring of the support bearing is fixedly connected with the feed screw, an outer bearing ring of the support bearing is fixedly connected with a shell of the feed base, the second nut is sleeved on a thread section of the feed screw, the second nut is in threaded connection with the feed screw, and a connecting bracket is arranged on the outer circumferential surface of the second nut, the connecting support and the second nut are integrally arranged, the needle base is arranged on the connecting support, the two slide rails are horizontally arranged in the feeding base in an opposite mode, each slide rail is fixedly connected with the feeding base, the edges of the two sides of the connecting support are lapped on the two slide rails, and the connecting support is connected with each slide rail in a sliding mode;
furthermore, a connecting column and three connecting holes are formed in the outer side wall of the feeding base, one end of the connecting column is fixedly connected with the outer side wall of the feeding base, the other end of the connecting column penetrates through the other end of the fourth connecting rod and is hinged to the fourth connecting rod, the other end of each connecting shaft is arranged in one connecting hole, and each connecting shaft is fixedly connected with the feeding base.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a venipuncture robot with decoupled position and attitude, which starts from the decoupling of the position and attitude of the robot. Compared with a full-automatic puncture robot in the prior art, the front 3 degrees of freedom (the horizontal degree of freedom of a sliding block driven by a ball screw and two rotary degrees of freedom in a parallel four-bar linkage mechanism) are used for determining the position of the robot, the rotary degree of freedom of a base joint is converted into the translational degree of freedom by improving a mechanical arm of a forward double parallel four-bar linkage, so that an X coordinate and a YZ coordinate are completely decoupled, the control precision is improved, the defect that the precision is worse when the original configuration is farther away from the base joint is overcome, meanwhile, when the double parallel four-bar linkage is designed, the bar lengths are designed to be equal in length, and great convenience is brought when the inverse kinematics settlement is carried out. The yaw and pitch degrees of freedom of the robot are used for adjusting the attitude of the end effector of the robot, and the robot is also decoupled, so that the control is convenient, and the precision is improved. The last degree of freedom is the feeding degree of freedom and is used for needle insertion and needle withdrawal, and the screw nut is used for transmission, so that linear needle insertion and needle withdrawal can be easily realized, the wound is favorably reduced, and the pain of a patient is reduced.
2. The robot is completely designed according to the process of inserting the needle by the nurse. The robotic end effector is first adjusted to the proper position and then the angle of the needle is adjusted so that the needle direction is approximately parallel to the blood vessel. When the needle is inserted, the needle and the skin are inserted into the blood vessel at an included angle of 30 degrees, the pitch angle is reduced after the blood vessel is penetrated, then the needle is inserted linearly, and the effects of reducing the wound, relieving the pain of a patient and improving the safety are achieved by simulating the needle insertion action of a nurse. When the pitch angle of the needle is adjusted, the invention specially designs a deformed four-bar structure, so that the needle rotates by taking the needle head as a rotation center, and the specific implementation way is as follows: the fifth motor drives the third connecting rod to rotate, the third connecting rod is connected with the fourth connecting rod, the fourth connecting rod is connected with the feeding base and drives the base to rotate, the three pulleys are arranged on the base, the pulleys can only slide on the sliding rail, the circle center of the sliding rail is the needle point position, and finally the effect of rotating around the needle point is achieved.
3. The venipuncture robot with the decoupled position and posture provided by the invention has the advantages of simple structure, low cost and convenience in installation and disassembly.
Drawings
FIG. 1 is an axial schematic view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a schematic top view of the drive rail mechanism of the present invention;
FIG. 5 is a sectional view taken along line A-A of the drive rail mechanism of the present invention;
FIG. 6 is a schematic top view of the advancing-retracting needle feeding mechanism of the present invention;
FIG. 7 is a sectional view taken along line B-B of the advancing and retreating needle feed mechanism according to the present invention;
FIG. 8 is a schematic front view of a dual parallel four bar linkage according to the present invention;
FIG. 9 is a schematic cross-sectional view of the double parallel four bar linkage of the present invention from the C-C direction;
FIG. 10 is a side view of the dual parallel four bar linkage of the present invention;
FIG. 11 is a schematic side view of an end effector yaw and elevation adjustment mechanism according to the present invention;
FIG. 12 is a schematic front view of an end effector yaw and elevation adjustment mechanism according to the present invention;
FIG. 13 is a schematic D-D cross-sectional view of an end effector yaw and elevation adjustment mechanism according to the present invention;
in the figure, a base 1, a guide rail 2, a motor 3, a ball screw 4, a bearing 5, a bearing 6 II, a bearing 7 III, a nut 8I, a sliding block 9, a connecting base 10, a motor 11 II, a harmonic reducer 12I, a connecting rod 13I, a motor 14 III, a harmonic reducer 15 II, a connecting rod 16 II, a regulating base 17, a motor 18 IV, a planetary reducer 19I, a guide slide rail 20, a motor 21V, a planetary reducer 22 II, a connecting rod 23 III, a connecting rod 24 IV, a pulley 25I, a pulley 26 II, a pulley 27 III, a feed base 28, a motor 29 VI, a feed screw 30, a nut 31 II, a needle seat 32 and a slide rail 33 are arranged.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 3, and provides a venipuncture robot with decoupled position and posture, which includes a transmission guide rail mechanism, a double parallel four-bar linkage mechanism, an end effector yaw and elevation angle adjusting mechanism, and a needle advancing and retracting feeding mechanism, wherein the double parallel four-bar linkage mechanism is disposed on the transmission guide rail mechanism, one end of the double parallel four-bar linkage mechanism is slidably connected with the transmission guide rail mechanism, one end of the end effector yaw and elevation angle adjusting mechanism is fixedly connected with the other end of the double parallel four-bar linkage mechanism, and the needle advancing and retracting feeding mechanism is rotatably connected with the other end of the end effector yaw and elevation angle adjusting mechanism.
The venipuncture robot with the decoupled position and posture can realize the adjustment among six degrees of freedom through the transmission guide rail mechanism, the double parallel four-bar linkage mechanism, the end effector yaw angle and elevation angle adjusting mechanism and the needle advancing and retreating feeding mechanism, so that the precision of the robot in the working process is greatly improved.
The second embodiment is as follows: the present embodiment is described with reference to fig. 4 and 5, and is further limited to the transmission rail mechanism according to the first embodiment, and in the present embodiment, the transmission rail mechanism includes a rail base 1, a rail 2, a first motor 3, a ball screw 4, a first bearing 5, a second bearing 6, a third bearing 7, a first nut 8, and a slider 9; the guide rail 2 is fixedly connected with the upper surface of the guide rail base 1, the shell of the first motor 3 is fixedly connected with one end of the guide rail base 1, the ball screw 4, the first bearing 5, the second bearing 6, the third bearing 7 and the first nut 8 are all arranged inside the guide rail 2, the output shaft of the first motor 3 penetrates through the outer wall of one end of the guide rail 2 and is connected with one end of the ball screw 4 through a coupler, the first bearing 5 and the second bearing 6 are sleeved on one end of the ball screw 4 close to the first motor 3, the bearing inner rings of the first bearing 5 and the second bearing 6 are fixedly connected with the ball screw 4, the bearing outer rings of the first bearing 5 and the second bearing 6 are fixedly connected with the inner wall of the guide rail base 1, the third bearing 7 is sleeved on the other end of the ball screw 4, the bearing inner ring of the third bearing 7 is fixedly connected with the ball screw 4, the bearing outer ring of the third bearing 7 is fixedly connected with the inner wall of the other end of the guide rail base 1, a nut 8 sleeves a screw thread section of a ball screw 4, the nut 8 is in threaded connection with the ball screw 4, a sliding block 9 sleeves the nut 8, the sliding block 9 is fixedly connected with the nut 8, connecting plates on two sides of the sliding block 9 penetrate through a guide rail 2 and are arranged outside the guide rail 2, and the sliding block 9 is in interactive connection with the guide rail 2. Other components and connection modes are the same as those of the first embodiment.
In the embodiment, a guide rail 2 is fixed on a guide rail base 1 through a bolt, a shell of a first motor 3 is fixed on the side wall of one end of the guide rail 2 through a bolt, the first degree of freedom is the translational degree of freedom of ball screw transmission, the X-axis coordinate of an end effector is determined, and the X-axis coordinate and the Y, Z coordinate are completely decoupled; the Y and Z coordinates are determined by a rear parallel four-bar structure, the Y and Z coordinates can be calculated according to the included angle between the first connecting bar 13 and the Z axis and the included angle between the second connecting bar 16 and the first connecting bar 13, the posture of the end effector cannot be changed no matter where the connecting bars are located, and complete decoupling of the position and the posture is realized.
The third concrete implementation mode: referring to fig. 8 and 10, the present embodiment is described, and the present embodiment further defines the dual parallel four-bar linkage mechanism described in the first embodiment, and in the present embodiment, the dual parallel four-bar linkage mechanism includes a connection base 10, a second motor 11, a first harmonic reducer 12, a first bar 13, a third motor 14, a second harmonic reducer 15, and a second bar 16, the connection base 10 is fixedly connected with the slider 9, a housing of the second motor 11 is fixedly connected with one side of the connection base 10 through a flange, an output shaft of the second motor 11 passes through the connection base 10 and is connected with an input shaft of the first harmonic reducer 12 through a coupling, a housing of the first harmonic reducer 12 is fixedly connected with the other side of the connection base 10, an output shaft of the first harmonic reducer 12 passes through one end side wall of the first bar 13 and is fixedly connected with the first bar 13, a housing of the second harmonic reducer 15 is fixedly connected with the other end side wall of the first bar 13, the first harmonic reducer 12 and the second harmonic reducer 15 are located on the same side of the first connecting rod 13, an output shaft of the third motor 14 penetrates through the first connecting rod 13 and is connected with an input shaft of the second harmonic reducer 15 through a coupler, a shell of the third motor 14 is fixedly connected with the first connecting rod 13 through a flange plate, and an output shaft of the second harmonic reducer 15 penetrates through a side wall of one end of the second connecting rod 16 and is fixedly connected with the second connecting rod 16. Other components and connection modes are the same as those of the first embodiment.
In the embodiment, the structure is improved from an upright serial double-parallel four-bar mechanical arm, the specific change is that the rotating shaft of the base joint is changed into a translation shaft, so that the X1 and YZ coordinates are decoupled, the control difficulty is reduced, the control precision is improved, the difficulty of inverse kinematics solution is reduced when the lengths of the first connecting bar 13 and the second connecting bar 16 are the same, and the correct solution can be easily selected by using the structure because the parallel four-bar structure has a multi-solution problem.
The fourth concrete implementation mode: referring to fig. 11 to 13, this embodiment is further limited to the yaw and elevation angle adjusting mechanism of the end effector described in the third embodiment, in this embodiment, the yaw and elevation angle adjusting mechanism of the end effector includes an adjusting base 17, a fourth motor 18, a first planetary reducer 19, a guiding slide rail 20, a fifth motor 21, a second planetary reducer 22, a third connecting rod 23, a fourth connecting rod 24, a first pulley 25, a second pulley 26, and a third pulley 27, the adjusting base 17 is fixed to the other end of the second connecting rod 16, a housing of the fourth motor 18 is fixed to the adjusting base 17, an output shaft of the fourth motor 18 is connected to an input shaft of the first planetary reducer 19 through a coupling, an output shaft of the first planetary reducer 19 passes through the adjusting base 17 and is fixedly connected to the guiding slide rail 20, an output shaft of the fifth motor 21 is connected to an input shaft of the second planetary reducer 22 through a coupling, the shell of the second planetary reducer 22 is fixedly connected with the guide sliding rail 20, the output shaft of the second planetary reducer 22 penetrates through the guide sliding rail 20 and is fixedly connected with one end of a third connecting rod 23, one end of the third connecting rod 23 is hinged with one end of a fourth connecting rod 24, a first pulley 25, a second pulley 26 and a third pulley 27 are distributed in the guide sliding rail 20 in a triangular mode, the first pulley 25, the second pulley 26 and the third pulley 27 are all connected with the guide sliding rail 20 in a sliding mode, and each pulley of the first pulley 25, the second pulley 26 and the third pulley 27 is sleeved on one end of a pulley shaft respectively. Other components and connection modes are the same as those of the first embodiment.
In the embodiment, the adjusting base 17 is fixed on the second connecting rod 16, and the fourth motor 18 is connected with the guide slide rail 20 through the first planetary reducer 19 for determining the yaw angle of the end effector; the fifth motor 21 drives the third connecting rod 23 through the second planetary reducer 22, the first pulley 25, the second pulley 26 and the third pulley 27 are fixedly connected with the end effector through connecting shafts, each pulley slides on the guide slide rail 20, and the third connecting rod 23 and the fourth connecting rod 24 form a four-bar mechanism which is used for adjusting the pitch angle of the end effector, completely decoupling the yaw and pitch degrees of freedom, and reducing the control difficulty.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 11 and 13, and is further limited to the guide rail 20 according to the fourth embodiment, in the present embodiment, the guide rail 20 includes a rail plate and a connecting plate, the rail plate and the connecting plate are integrally provided in an L shape, an output shaft of the first planetary reducer 19 passes through the adjustment base 17 and is fixedly connected to the connecting plate, and the first pulley 25, the second pulley 26, and the third pulley 27 are distributed in a triangular shape in the rail plate. The other components and the connection mode are the same as those of the fourth embodiment.
The sixth specific implementation mode: referring to fig. 6 to 7, the present embodiment is described, and the present embodiment further defines the advancing-retreating needle feeding mechanism described in the first embodiment, in the present embodiment, the advancing-retreating needle feeding mechanism includes a feeding base 28, a six motor 29, a feeding screw 30, a second nut 31, and a needle holder 32, the outer wall of the feeding base 28 is fixedly connected to the other end of each pulley shaft, the outer wall of the feeding base 28 is hinged to the other end of the fourth connecting rod 24, the six motor 29 is disposed on one end of the feeding base 28, the output shaft of the six motor 29 passes through the feeding base 28 and is connected to one end of the feeding screw 30 through a coupling, the other end of the feeding screw 30 is inserted into the side wall of the other end of the feeding base 28, a support bearing is disposed between the other end of the feeding screw 30 and the feeding base 28, the inner ring of the support bearing is fixedly connected to the feeding screw 30, the bearing outer ring of the supporting bearing is fixedly connected with the shell of the feeding base 28, the second nut 31 is sleeved on the thread section of the feeding screw rod 30, the second nut 31 is in threaded connection with the feeding screw rod 30, a connecting support is arranged on the outer circular surface of the second nut 31 and is integrally arranged with the second nut 31, the needle seat 32 is installed on the connecting support, the two sliding rails 33 are horizontally and oppositely arranged in the feeding base 28, each sliding rail 33 is fixedly connected with the feeding base 28, an embedded groove is respectively machined on two sides of the second nut 31, each sliding rail 33 is arranged in one embedded groove, and the second nut 31 and the two sliding rails 33 are in sliding connection. Other components and connection modes are the same as those of the first embodiment.
In this embodiment, the sixth motor 29 is connected to the feed screw 30, the second nut 31 is connected to the needle holder 32, the motor drives the screw to rotate, the nut drives the needle holder to translate, so as to realize the needle insertion and withdrawal actions, the feed degree of freedom and other degrees of freedom are decoupled, the control difficulty is reduced, and the precision and the safety are improved. When the needle point is inserted into a blood vessel, the pitching angle of the needle needs to be reduced, and then the needle is inserted for 5mm along the blood vessel, and the structure is specially designed for the scene, so that the needle can rotate around the needle point, the wound is prevented from being enlarged, and the pain of a patient is increased.
The seventh embodiment: referring to fig. 1, the present embodiment is described, and the present embodiment further defines the feeding base 28 according to the sixth embodiment, in the present embodiment, a connection column and three connection holes are provided on an outer side wall of the feeding base 28, one end of the connection column is fixedly connected to an outer side wall of the feeding base 28, the other end of the connection column passes through the other end of the fourth connecting rod 24 and is hinged to the fourth connecting rod 24, the other end of each pulley shaft is disposed in one connection hole, and each pulley shaft is fixedly connected to the feeding base 28. Other components and connection modes are the same as those of the sixth embodiment.
In this embodiment, the three connecting holes are all threaded holes, each of the pulley shafts described in the sixth embodiment is a bolt, and a threaded section of each bolt is disposed in one threaded hole, so that the pulley shaft is fixedly connected to the feeding base 28 through the threads.
Principle of operation
1. Adjusting the position of the robot end effector: the position of the robot end effector is determined by the front 3 degrees of freedom, the first motor 3 rotates to drive the ball screw 4 to rotate, the first nut 8 matched with the ball screw translates to drive the sliding block 9 to translate, and the movement of the end effector in the X-axis direction is realized; the second motor 11 and the third motor 14 rotate, the first connecting rod 13 and the second connecting rod 16 are driven to rotate through the first harmonic reducer 12 and the second harmonic reducer 15, and the movement of the end effector in the YZ direction is realized.
2. And (3) posture adjustment of the robot end effector: the attitude of the robot end effector is determined by two degrees of freedom of yaw and pitch, the adjusting base 17 is fixed on the second connecting rod 16, the fourth motor 18 rotates and drives the guide slide rail 20 to rotate around the output shaft of the first planetary reducer 19 through the first planetary reducer 19, and the adjustment of the yaw angle of the end effector is realized; the fifth motor 21 drives the third connecting rod 23 to rotate through the second planetary reducer 22, the third connecting rod 23 is connected with the fourth connecting rod 24 to drive the fourth connecting rod 24 to rotate, the fourth connecting rod 24 drives the feeding base 28 to rotate, and the connecting shafts of the pulley 25, the second pulley 26 and the third pulley 27 are fixed on the base, so that the pulley can move along with the base, the pulley can slide on the sliding rail due to the limitation of the guide sliding rail 20, the circle center of the sliding rail is a needle point, and the feeding base 28 can be limited to rotate only by taking the needle point as the center. Due to the design, on one hand, the yaw and pitch angle of the end effector can be adjusted, on the other hand, the pitch angle is adjusted by taking the needle point as the center, so that the wound caused by adjusting the pitch angle after the blood vessel is punctured can be minimized, and the pain of a patient is relieved to the greatest extent.
3. Needle insertion and needle withdrawal of the robot: the last degree of freedom of the robot is feeding degree of freedom and is used for needle insertion and needle withdrawal, a six-motor 29 drives a feed screw 30 to rotate, a second nut 31 matched with the feed screw 30 translates, a needle seat 32 fixed on the nut translates along with the second nut, and linear needle insertion and linear needle withdrawal are achieved.
The invention realizes the following matching process of electricity and structure: the driving motors used in the six degrees of freedom are maxon direct current brushless motors, the first 3 motors, namely the first motor 3, the second motor 11 and the third motor 14, are in the same model and are provided with code discs for detecting the motor positions, the second 3 motors, namely the fourth motor 18, the fifth motor 21 and the sixth motor 29, are in the same model and are not provided with code discs, and feedback is carried out only by a self-contained Hall sensor. And the EPOS4 driver matched with maxon company is selected as the driver type. The 6 motors are controlled by a multi-axis motion controller, and finally a controller of the Trio is selected for control.
Claims (5)
1. A venipuncture robot with decoupled position and posture comprises a transmission guide rail mechanism, a double parallel four-bar linkage mechanism, an end effector yaw and elevation angle adjusting mechanism and a needle advancing and retreating feeding mechanism, wherein the double parallel four-bar linkage mechanism is arranged on the transmission guide rail mechanism, one end of the double parallel four-bar linkage is connected with the transmission guide rail mechanism in a sliding way, one end of the end effector yaw and elevation angle adjusting mechanism is fixedly connected with the other end of the double parallel four-bar linkage, the feed-back needle feeding mechanism is connected with the other end of the end effector yaw and elevation angle adjusting mechanism in a rotating way, the transmission guide rail mechanism comprises a guide rail base (1), a guide rail (2), a first motor (3), a ball screw (4), a first bearing (5), a second bearing (6), a third bearing (7), a first nut (8) and a sliding block (9); the guide rail (2) is fixedly connected with the upper surface of the guide rail base (1), a shell of a first motor (3) is fixedly connected with one end of the guide rail base (1), a ball screw (4), a first bearing (5), a second bearing (6), a third bearing (7) and a first nut (8) are all arranged inside the guide rail (2), an output shaft of the first motor (3) penetrates through the outer wall of one end of the guide rail (2) and is connected with one end of the ball screw (4) through a coupler, the first bearing (5) and the second bearing (6) are sleeved on one end, close to the first motor (3), of the ball screw (4), inner bearing rings of the first bearing (5) and the second bearing (6) are fixedly connected with the ball screw (4), outer bearing rings of the first bearing (5) and the second bearing (6) are fixedly connected with the inner wall of the guide rail base (1), and the third bearing (7) is sleeved on the other end of the ball screw (4), the bearing inner race and ball (4) fixed connection of No. three bearing (7), the bearing outer race and the other end inner wall fixed connection of guide rail base (1) of No. three bearing (7), No. one nut (8) cover is established on the screw thread section of ball (4), and No. one nut (8) and ball (4) threaded connection, slider (9) cover is established on No. one nut (8), and slider (9) and nut (8) fixed connection, the both sides connecting plate of slider (9) passes guide rail (2) and sets up the outside at guide rail (2), slider (9) and guide rail (2) interactive connection, its characterized in that: the double-parallel four-bar mechanism comprises a connecting base (10), a second motor (11), a first harmonic reducer (12), a first connecting bar (13), a third motor (14), a second harmonic reducer (15) and a second connecting bar (16), wherein the connecting base (10) is fixedly connected with a sliding block (9), a shell of the second motor (11) is fixedly connected with one side of the connecting base (10) through a flange plate, an output shaft of the second motor (11) penetrates through the connecting base (10) and is connected with an input shaft of the first harmonic reducer (12) through a coupler, a shell of the first harmonic reducer (12) is fixedly connected with the other side of the connecting base (10), an output shaft of the first harmonic reducer (12) penetrates through one end side wall of the first connecting bar (13) and is fixedly connected with the first connecting bar (13), and a shell of the second harmonic reducer (15) is fixedly connected with the other end side wall of the first connecting bar (13), and the first harmonic reducer (12) and the second harmonic reducer (15) are positioned on the same side of the first connecting rod (13), the output shaft of the third motor (14) penetrates through the first connecting rod (13) and is connected with the input shaft of the second harmonic reducer (15) through a coupler, the shell of the third motor (14) is fixedly connected with the first connecting rod (13) through a flange plate, and the output shaft of the second harmonic reducer (15) penetrates through the side wall of one end of the second connecting rod (16) and is fixedly connected with the second connecting rod (16).
2. A position and attitude decoupled venipuncture robot as claimed in claim 1 wherein: the end effector yaw angle and elevation angle adjusting mechanism comprises an adjusting base (17), a fourth motor (18), a first planetary reducer (19), a guide sliding rail (20), a fifth motor (21), a second planetary reducer (22), a third connecting rod (23), a fourth connecting rod (24), a first pulley (25), a second pulley (26) and a third pulley (27), wherein the adjusting base (17) is fixedly connected to the other end of the second connecting rod (16), a shell of the fourth motor (18) is fixed on the adjusting base (17), an output shaft of the fourth motor (18) is connected with an input shaft of the first planetary reducer (19) through a coupler, an output shaft of the first planetary reducer (19) penetrates through the adjusting base (17) and is fixedly connected with the guide sliding rail (20), an output shaft of the fifth motor (21) is connected with an input shaft of the second planetary reducer (22) through a coupler, the shell of the second planetary reducer (22) is fixedly connected with the guide sliding rail (20), the output shaft of the second planetary reducer (22) penetrates through the guide sliding rail (20) and is fixedly connected with one end of the third connecting rod (23), the other end of the third connecting rod (23) is hinged with one end of the fourth connecting rod (24), the first pulley (25), the second pulley (26) and the third pulley (27) are distributed in the guide sliding rail (20) in a triangular mode, the first pulley (25), the second pulley (26) and the third pulley (27) are all in sliding connection with the guide sliding rail (20), and each pulley in the first pulley (25), the second pulley (26) and the third pulley (27) is sleeved on one end of a pulley shaft respectively.
3. A position and attitude decoupled venipuncture robot as claimed in claim 2 wherein: guide slide rail (20) are including track board and connecting plate, and track board and connecting plate are the integrative setting of L type, and the output shaft of a planetary reducer (19) passes regulation base (17) and with connecting plate fixed connection, and No. one pulley (25), No. two pulley (26) and No. three pulley (27) are triangular distribution in the track board.
4. A position and attitude decoupled venipuncture robot as claimed in claim 3 wherein: the needle feeding mechanism comprises a feeding base (28), a number six motor (29), a feeding screw rod (30), a number two nut (31), a needle seat (32) and two sliding rails (33), wherein the outer wall of the feeding base (28) is fixedly connected with the other end of each pulley shaft, the outer wall of the feeding base (28) is hinged with the other end of a number four connecting rod (24), the number six motor (29) is arranged at one end of the feeding base (28), an output shaft of the number six motor (29) penetrates through the feeding base (28) and is connected with one end of the feeding screw rod (30) through a coupler, the other end of the feeding screw rod (30) is inserted into the side wall of the other end of the feeding base (28), a supporting bearing is arranged between the other end of the feeding screw rod (30) and the feeding base (28), a bearing inner ring of the supporting bearing is fixedly connected with the feeding screw rod (30), a bearing outer ring of the supporting bearing is fixedly connected with a shell of the feeding base (28), no. two nuts (31) are sleeved on the thread section of a feed screw (30), and No. two nuts (31) are in threaded connection with the feed screw (30), a connecting support is arranged on the outer circular surface of No. two nuts (31), the connecting support and No. two nuts (31) are integrally arranged, a needle seat (32) is installed on the connecting support, two sliding rails (33) are horizontally and oppositely arranged in a feed base (28), each sliding rail (33) is fixedly connected with the feed base (28), an embedding groove is respectively processed on two sides of each nut (31), each sliding rail (33) is arranged in one embedding groove, and each nut (31) and two sliding rails (33) are in sliding connection.
5. A position and attitude decoupled venipuncture robot as claimed in claim 4 wherein: the outer side wall of the feeding base (28) is provided with a connecting column and three connecting holes, one end of the connecting column is fixedly connected with the outer side wall of the feeding base (28), the other end of the connecting column penetrates through the other end of the fourth connecting rod (24) and is hinged to the fourth connecting rod (24), the other end of each pulley shaft is arranged in one connecting hole, and each pulley shaft is fixedly connected with the feeding base (28).
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| CN201911418723.2A CN111035455B (en) | 2019-12-31 | 2019-12-31 | Venipuncture robot with decoupled position and posture |
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| CN201911418723.2A CN111035455B (en) | 2019-12-31 | 2019-12-31 | Venipuncture robot with decoupled position and posture |
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| CN111643188A (en) * | 2020-06-16 | 2020-09-11 | 上海交通大学 | Puncture surgical robot device |
| CN112656487A (en) * | 2020-11-18 | 2021-04-16 | 哈尔滨理工大学 | Based on flexible needle puncture mechanism of parallel lead screw formula |
| CN113081276B (en) * | 2021-03-29 | 2022-07-15 | 上海健康医学院 | Four-bar linkage venipuncture needle advancing and retreating execution device with needle picking action |
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